Pour the water into a medium saucepan and place it over medium heat until it reaches a gentle simmer, then reduce to low heat to maintain simmer.
Add cinnamon sticks, whole cloves, and citrus slices to the water.
Stir gently to help the ingredients infuse evenly.
Reduce heat to low and let simmer uncovered for about 20 minutes.
Stir occasionally and add more water if the level drops.
Once fragrant, turn off heat or keep on very low to maintain aroma.
Remove solids if desired, or leave them in for continued scent.